基于薄板理论的六维力传感器E型膜横向扭转振动分析

Transverse torsional vibration analysis of E-type membrane for six-axis force sensor based on lamination theory

六维力传感器动态解耦的关键是对解耦矩阵C的求解,常见的方法是基于弹性力学理论对传感器的弹性结构建立力学模型,通过对弹性体动态力学行为的研究,揭示动态耦合特征,求解解耦矩阵.本文以My方向动载荷作用下传感器的上、下E型膜研究对象,基于弹性力学薄板振动理论,对非对称动载荷作用下的圆环形薄板的横向强迫振动问题提出了一种新颖的解决方法,求解出动态输出,并对结果进行数据处理,揭示了My主方向弹性体的动态力学特性,为动态解耦提供了理论和数据基础.

Solution of decoupling matrix C is the key of dynamic decoupling for six-axis sensor. The dy- namic coupling characteristic and decoupling matrix can be indicated with the help of a common method by buiding a mechanical model for the elastomer of the sensor and researching the dynamic mechanical behavior of the elastomer on the basis of the theory of elastic mechanics. An upper and lower E-type membrane under the condition of dynamic loads in My direction is studied in this paper as an example and a novel solution for the problem of forced vibration of annular lamella under asymmetrical dynamic loads is proposed based on lamination theory. The calculated dynamic output has been processed. The dy- namic mechanical property in the main direction My is indicated. The output provides both theoretical and data foundation for dynamic decoupling.